This library provides all branch and bound (BB) code necessary to efficiently search over the space of rotations and translations given mixture models of von-Mises-Fisher distributions and Gaussians respectively.

This code depends on the following other libraries and was tested under Ubuntu 14.04.

• Eigen3 (3.0.5)

libbbTrans.so collects all the branch and bound code into one shared library. The rest of the code is in the form of header files.

There are a couple of test binaries in the ./test/ subfolder that are being build as well and can be used to understand the workings of the BB code as well as to test its functionality.